CN1589729A - Magnet coil system for contactless movement of a magnetic body in a working space - Google Patents
Magnet coil system for contactless movement of a magnetic body in a working space Download PDFInfo
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- CN1589729A CN1589729A CNA2004100832752A CN200410083275A CN1589729A CN 1589729 A CN1589729 A CN 1589729A CN A2004100832752 A CNA2004100832752 A CN A2004100832752A CN 200410083275 A CN200410083275 A CN 200410083275A CN 1589729 A CN1589729 A CN 1589729A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
- A61B2034/731—Arrangement of the coils or magnets
- A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry
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Abstract
A magnetic body is to be moved in a contactless fashion in a working space with the aid of the magnet coil system composed of fourteen individually drivable individual coils. The coil system is to be used for this purpose to produce three magnetic field components and five magnetic field gradients. The individual coils are preferably arranged on end-face or lateral surfaces situated oppositely in pairs, and on a tubular peripheral surface surrounding the working space.
Description
Technical field
The present invention relates to have the system of electromagnetic of a plurality of separately controllable single coils, be used for the magnet in the non-contact type moving three dimension work space, this work space is by at right angle x, y, and unfolded plane surrounds in the z coordinate system.This system of electromagnetic is from " IEEE Transactions on Magnetics ", Vol.32, and No.2, can learn in the 320th to 328 page in March, 1996.
Background technology
Aspect medical science, use the endoscope and the conduit that import by otch or body opening, can move from the outside in the vertical and therefore can only navigate at one dimension.Utilize optical conductor can carry out optical check, wherein, therefore endoscope tip also also has direction of observation to swing by control line.Particularly can constitute this device for biopsy.Yet employed in this case probe particularly can only limitedly navigate in branch, can cause the expansion scope of application to such an extent as to contactlessly apply power itself from the outside.
Begin to learn described publication and US 5 125 888A a kind of system of electromagnetic that is used for non-contact type control magnetic probe from this paper, comprise single coil on six planes that are arranged on a square, that be preferably superconductor, it is at right angle x, y, the position in the z coordinate system can be described from mathematics.Utilizing these coils can produce variable field direction and field gradient, is that therapeutic purposes can guide in for example human body that will check or move so that will have the conduit of magnetic material or magnetic implant.Yet, utilize the system of electromagnetic of forming by six single coils can not reach the unrestricted free navigation of magnet.
US 6 241 671 has introduced a kind of system of electromagnetic that has three coils, US 6 529 761B2 have introduced a kind of device that can rotate several permanent magnets of setting around the patient, can influence the magnetic field of permanent magnet by the magneto-optic door screen, and permanent magnet can produce the magnetic ripple of mobile magnetic probe.
In addition, the known system of electromagnetic that also has the rotatable permanent magnet of band is used for particularly controlling magnetic catheters under X-ray control.
Relevant method of carrying out attitude stabilization by feedback is not mentioned in the prior art; Starting point is that the magnetic detecting body is predesignated by field direction and gradient, is in all the time on the inner surface of the body interior that will check.
WO 96/03795 A1 has introduced a kind of method that adopts the extra-pulse coil, and magnetic probe utilizes these coils progressively to move under computer control by exactly determined current impulse.
Known also have so-called video cover (Videokapseln), " GastrointestialEndoscopy " magazine Vol.54 for example, and No.1 is introduced for the 79th to 83 page, is used to check digestive tract.The video cover moves by the enterokinesia of nature in this case; That is to say that mobile and direction of observation is purely random.
DE 101 42 253 C1 have introduced a kind of corresponding video cover, and it is equipped with bar-shaped Magnet and video-unit and other and inserts device.Outside system of electromagnetic applies the power that is used to navigate to bar-shaped Magnet.The document is mentioned a kind of helicopter mode of so-called suspension type, adopts the external control by the 6D mouse, and the answer of power is answered by mouse and position and undertaken by responder.Details for realizing corresponding system of electromagnetic and its single coil of operation does not disclose in the document.
Summary of the invention
The technical problem to be solved in the present invention is, a kind of system of electromagnetic is provided, and utilizes this system can be to for example carrying out the non-contact type navigation as (ferrum) magnet according to the described bar-shaped Magnet of above-mentioned DE-C1 document or moving.At this, this magnet can apply power at the work space interior orientation and/or to this magnet.At this, orientation and the size and Orientation of power on this magnet can magnetically not have mechanical connection ground and predesignate from the outside.
According to the present invention, this purpose of above-mentioned technical problem realizes by a kind of system of electromagnetic, and this system of electromagnetic is used in three-dimensional work space moving magnet contactlessly, and this work space is by at right angle x, y, and unfolded plane surrounds in the z coordinate system.This coil system has 14 separately controllable single coils, and they are configured to from respect to producing three magnetic-field component B the symmetric gradient matrix of its diagonal D
x, B
yAnd B
zAnd produce five magnetic field gradients,
Wherein, utilize single coil to produce two and gradient matrix and each outer diagonal composition of symmetric three the gradient composition centerings of diagonal of three diagonal compositions of gradient matrix.
According to of the present invention, cage modle be around the starting point in the system of electromagnetic of work space, all the time produce in pairs by condition rotH=0 and divB=0 (the amount representative vector that wherein, in fatty pressure, the provides) field gradient of bearing by Maxwell equation.Set out thus as can be seen, at three possible field component B
x, B
yAnd B
zIn only have two and at nine possible magnetic field gradient dB
x/ d
x, dB
x/ dy, dB
z/ dz, dB
y/ dx, dB
y/ dy, dB
y/ dz, dB
z/ dx, dB
z/ dy and dB
zOnly there are five must be independent of the gradient generation among the/dz.At this, 14 single coils must be able to utilize the electric current of identical value like this, embody and eight corresponding eight different current-modes of electromagnetism degree of freedom.Main respectively field component or the field gradient of producing of these current-modes.Can produce combination that allow according to Maxwell equation, field component and field gradient then by stack.
In this manner, can be by means of the magnetic field in the work space, at this magnet on the sort of probe that for example is connected with magnetics, for example as directed according to (machinery) non-contact type on the described conduit of DE 101 42 253 C1, endoscope or the video cover and/or apply on the meaning of power control contactlessly/move (=navigation) magnet.
Therefore, 14 separately controllable single coil devices are on facing surfaces in pairs and at least one is on the upwardly extending tubular outer surface in z side.At this, on outer surface, these surfaces can constitute a cuboid or square.But they needn't constitute the fully-flattened.Be in these lip-deep single coils and particularly on the z direction, can be easy to enter work space then.
In this regard preferably, at least six single coils can be on paired opposing end faces of work space or the side, and are used to produce three magnetic-field component B
x, B
y, B
zAnd two diagonal compositions of gradient matrix.Simultaneously, at least four single coils can be arranged on the tangential direction with distributing at least one surround on the tubular outer surface of work space, be used to produce at least one outer diagonal composition of gradient matrix.Therefore utilize remaining single coil, can constitute desired three outer diagonal compositions jointly.
According to a particularly preferred constituted mode of coil system,
-as three six right single coils of coil can be on the paired opposing end faces of work space or the side and
-eight single coils constitute two groups of coil devices, they are being on the z direction at least one tubular outer surface one by one, and it is provided with on the outer surface on four single coils ground that distributes on tangential direction separately, and is used to produce three outer diagonal compositions of gradient matrix.
This coil system is characterised in that to have the clear and definite structure that is easy to enter work space on the z direction.
The substitute is, in this coil system, can effect have equally well,
-single coil is set on the end face of work space a coil right, be used to produce magnetic-field component B
zAnd the diagonal ingredient d B of gradient matrix
z/ dz,
-on relative in pairs side, a coil device is set separately, form by two single coils that on the z direction, are provided with one by one of difference, be used to produce magnetic-field component B
xOr B
y,
-coil device is set at least one tubular outer surface, the single coils that are provided with by four ground that on tangential direction, distribute form and
These coil devices on-side and the outer surface are used to produce other diagonal composition and three outer diagonal compositions of gradient matrix.
The field gradient coil that is in the above-described embodiment on (imagination) outer surface can constitute on saddle type ground.At this, it can that is to say to have one＞90 ° arc angle (Bogenwinkel) separately side by side at the end face arcuate member (Bogenteil) that distributes on the outer surface on the tangential direction on tangential direction, perhaps also can superpose.Corresponding single coil is easy to make and produce clear and definite field relation.
In addition, several at least field component coils constitute as planar square coil or circular coil.Therefore particularly be in coil on the end face and can be easy to enter work space on the z direction.
Preferably, the coil system outside is gone up the parts of being made by soft magnetic material and can be provided for strengthening magnetic field and/or armoured magnetic field.
14 single coils for the control system of electromagnetic preferably use a computer, and wherein, computer is depending on that the magnet that will move at that time under the situation of position, controls the power supply that they distribute separately.
Description of drawings
The present invention will be further described by accompanying drawing according to the preferred implementation of system of electromagnetic of the present invention is shown below.Wherein schematically show respectively:
Fig. 1 is according to first embodiment of system of electromagnetic of the present invention;
Fig. 2 has the energising direction that is used to produce predetermined magnetic-field component or magnetic field gradient by single coil local Fig. 2 a to 2h, this system of electromagnetic;
Fig. 3 is to the enlarged drawing of one of single coil among Fig. 2;
Fig. 4 utilizes the oblique view of the system of electromagnetic of Fig. 1 that wire turn constitutes;
The control that Fig. 5 carries out the single coil according to the system of electromagnetic of Fig. 1 by means of computer;
Fig. 6 has the ferromagnetic structure that is used for magnetic field shielding and/or magnetic field-intensification according to a kind of special structure of the system of electromagnetic of Fig. 1;
Fig. 7 is according to another embodiment of system of electromagnetic of the present invention;
Fig. 8 presses energising direction Fig. 8 a to 8i, in Fig. 7 system of electromagnetic single coil.
At this, corresponding parts have identical reference marker in the accompanying drawing.
The specific embodiment
Utilization is according to system of electromagnetic of the present invention, and the magnetic detecting body can move by non-contact type in working volume.At this, power can be on the magnetic and do not having to predesignate from the outside under the condition of mechanical connection at the orientation on this detection body and size and Orientation.Particularly under the situation of medical application, a kind of like this probe that this magnetic detecting body is housed can be conduit or have the endoscope of magnetics or have the illumination and the miniature camera of transmitter, and this miniature camera is from for example as emission video image in the body of digestive tract or pulmonary.In addition, for example ferromagnetic foreign body or the functional module as the pin can move or take out in inaccessiable object or space from the outside by magnetic force.Except aspect medical science, using, can be used for other field effectively equally according to system of electromagnetic of the present invention, for example as in the alpha-contamination space.Utilize the magnetic probe be equipped with, also can for example carry out internal check other object that particularly can not enter, wherein, also can have other or additional function that probe is self-evident.
Therefore, can control from the outside by magnetic force surveying body on all three lateral degree of freedom and on the direction of observation in two rotary freedoms by this system of electromagnetic.In addition, this system of electromagnetic can preferably enter from the outside in the z direction, for example will locate in the patient's work space in vivo that will treat.
Fig. 1 to 4 illustrates a kind of typical embodiment according to system of electromagnetic of the present invention, utilizes this system carrying out corresponding navigation or spatial control to this ferromagnet and/or move under the effect of power on the ferromagnet.Below, select such probe as a this ferromagnetic embodiment, it is furnished with ferromagnetic material or contains the parts that are made of this material.This ferromagnet is also referred to as " magnet ".
System of electromagnetic with 2 overall labelings among Fig. 1 for example has the roughly exterior contour of the square bodily form.F3a, F3b, F4a, F4b, F5a and F5b labelling are adopted in corresponding six squares surface.The x-at a right angle, y-is on the z-coordinate system is in angle of this square.At this, be considered as end face with orthogonal surperficial F4a of z direction and F4b, and with the x axis and with the surface of y orthogonal axe to F3a, F3b or F5a, it is right that F5b can be considered as the side.These surfaces to surround one adopt the A labelling, be presented as three-dimensional inner space or work space.Being in this inner space that is made of six surfaces, is the tubular outer surface F6 that has with the parallel distributive axis of z direction.The surface of being mentioned is the surface of imagination generally.But self-evident, the single coil that on these surfaces, extends of system of electromagnetic 2 by do not illustrate among concrete, the figure fixture supported.
System of electromagnetic 2 is according to the present invention includes single coil 14 normal conductors or superconductor, and they preferably constitute as square coil or saddle coil.At this, only schematically illustrate the winding shape among this figure; Also can select to have single coil, circular coil or other the coil shape of rounding.At this, the coil system of selected embodiment is by six field component coil 3a, 3b, and 4a, 4b and 5a, 5b and eight field gradient coil 6a to 6d and 7a to d form.Utilize and be in relative square surface F3a, F3b in pairs; F4a, F4b and F5a, the field component coil 3a on the F5b, 3b or 4a, 4b or 5a, 5b produces field component B from the following gradient matrix that provides once more
x, B
y, B
zAnd three diagonal magnetic field gradient dB
x/ dx, dB
y/ dy and dB
zAt least two of/dz.This gradient matrix has following profile:
Wherein, element dB
x/ dx, dB
y/ dy and dB
zThe line of/dz is regarded as the diagonal D of gradient matrix.This gradient matrix is with respect to this diagonal D or to be in above-mentioned magnetic field gradient above it be that symmetry constitutes.At this, the summation of diagonal composition equals zero.It is right to have the coil that energising direction to be selected therein produces single field component, adopts 3 or 4 or 5 labellings according to Fig. 2 and local figure thereof.Preferably these of field component coil are to mutual quadrature setting.They are of similar shape at least in couples generally.
The field gradient coil 6a to 6d and the 7a to 7d that utilize saddle type to constitute constitute two coil devices 6 and 7 respectively, and they are provided with on the z direction one by one.Saddle type field gradient coil surrounds work space A in the mode of field, and wherein, they are co-located on the outer surface F6 of at least one imagination.On tangential direction, the gradient coil that belongs to a coil device is spaced from each other; Between their the end face arcuate member and therefore that is to say, between they are distributed in vertical face on the z direction, each having a gap.Yet adjacent gradient coil can superpose on its vertical face.The outer surface F6 of imagination has for example circular cross section.But it also can have for example foursquare other shape of cross section.Can be concentric outer surface also, being in top be by one or the single coil that is made of two coil devices.At least one outer surface F6 also needn't definitely be in by field component coil 3a, 3b, and 4a, 4b in the space that 5a, 5b surround, but also can comprise the structure that is made of these coils when needing.At least the field gradient coil that belongs to a coil device 6 and/or 7 generally is of similar shape.
According to Fig. 2 and local figure thereof, utilize field gradient coil 6a to 6d and 7a to 7d for example when the energising direction shown in selecting, constitute magnetic field gradient dB
x/ dy, dB
z/ dx and dB
z/ dy.These three field gradients are respectively outer diagonal compositions of top gradient matrix.At this, these become respectively from right with respect to symmetric other composition of diagonal D.Promptly in the formation of respective fields gradient, inevitable generation in pairs is with respect to the symmetric field gradient of diagonal D.In this case, it can be gradient dB
Y/ dx or dB
z/ dz or dB
y/ dz.Because only should consider five gradient degree of freedom, so to dB
z/ dz-field gradient need not special current-mode.But as an alternative, also can select to produce dB
z/ dz field gradient is also removed gradient dB for this reason
x/ dx or dB
yAmong/the dy one.That is to say, only need to produce two that are in last three gradients of gradient matrix diagonal D.
In the work space A of system of electromagnetic 2, it can be attempted and the magnetic direction parallel orientation so, so it also predesignates the orientation of probe if present magnet with longitudinal extension, ferrum oxygen Magnet that for example is connected with probe or permanent magnet are packed into.At this, field gradient applies power F=grad (mB) on magnet, and wherein, m is the vector of magnet magnetic moment.By on purpose controlling each of 14 single coils, can be in work space A that magnet is directed arbitrarily, and can on all directions, apply the power F that predesignates to magnet, that is to say that it not only rotates, and can linearly move.
Local Fig. 2 a to 2h for example illustrates 14 single coils according to the system of electromagnetic of Fig. 1 system 2 in pairs, has in single figure and is used to produce the sense of current separately that non-contact type moved and/or rotated the electric current I of needed field component and field gradient.At this, utilize single coil 3a according to Fig. 2 a and 2b, the coil of 3b produces magnetic-field component B to 3 according to the sense of current
xAnd field gradient dB
x/ dx.According to corresponding mode, utilize coil to 5 single coil 5a, 5b constitutes field component B
yAnd field gradient dB
y/ dy.According to local Fig. 2 e, the coil that is made of single coil 4a and 4b produces field component B to 4
zAccording to local Fig. 2 f to 2h, utilize two coil devices 6 and 7 that constitute by four gradient coil 6a to 6d or 7a to 7d separately, produce field gradient dB according to the energising direction in the single coil
z/ dx or dB
z/ dy or dB
x/ dy.
Fig. 3 amplifies and draws back each other two coil devices 6 and 7 that are made of four gradient coil 6a to 6d and 7a to 7d separately are shown, and wherein, the energising direction in these coils is selected according to local Fig. 2 f.
Fig. 4 illustrates system of electromagnetic 2 by Fig. 1 to 3 with oblique view, has the strand (Leiterpaketen) that constitutes single coil.Starting point at this is to constitute magnetic-field component B
x, B
y, B
zSingle coil for example have foursquare basically moulding and be on the flat outer surface of six (imaginations) of a square.Self-evident, these outer surfaces also can have slight curving shape.
In according to system of electromagnetic of the present invention, each current-mode also produces other field component except desirable separately.They depend on separately coil dimension and the position of magnet; Its amplitude is the therefrom winding of mind-set coil increase on direction.That is to say, so can be at the simple relation that produces on the position of magnet between the current intensity that has field direction and power F=grad (mB) current-mode.
Yet,, on a magnet positions (probe location), exactly can be adjusted on the magnet those and the field gradient that produce desirable orientation and power effect by the suitable stack of eight current-modes in 14 single coils.Particularly preferably be,, then can in the space, realize freely suspending of magnet if for example produce gravity F=mg=grad (mB) (M=quality, g=acceleration of gravity) just.Relevant therewith calculating preferably utilizes computer to carry out, and particularly implements following calculation procedure, and when needed during the moving of magnet continuously repeatedly:
-from work space and value | the magnet direction that polar theta in the B| and are scheduled to, calculate three the field component B in magnet positions place
x, B
y, B
zRated value;
-from the predetermined magnetic force of magnet, calculate five independently field gradient dB
x/ dx, dB
Y/ dy, dB
x/ dy, dB
z/ dx and dB
zThe rated value of/dy; Also can predesignate gradient dB
z/ dz, and will be in other gradient dB on the gradient matrix diagonal for this reason
x/ dx or dB
yOne among/the dy is made as zero.Also it is contemplated that gradient dB
z/ dz and other diagonal gradient dB
x/ dx or dB
yA stack the among/dy;
-be each of eight current-modes in the loop geometries, for example calculate field component and field gradient on the magnet for the 1A coil current with by the expression of 8 * 8 matrix shape;
-calculate an inverse matrix.This inverse matrix only depends on loop geometries, and can set up in advance for each point on grid in the work space that is had.Run duration at device carries out interpolation for accelerating to calculate between the numerical value on this grid;
The inverse matrix of-magnet and field vector (B
x, B
y, B
z, dB
x/ dx, dB
Y/ dy, dB
x/ dy, dB
z/ dx, dB
z/ dy) multiply each other and draw the current value of eight current-modes;
-according in the stored form separately just or the negative current direction, current-mode is divided into 14 single coil electric currents and electric current is superposeed in the single coil internal linear;
14 power supplys of-control single coil;
The loss power limit of-monitoring in single coil.
Fig. 5 illustrates a kind of related device with sketch map, be used for the combined effect of the imaging device that is used to control magnet positions or probe location under 14 single coils of control.In the figure, the computer of system of electromagnetic 2 adopts 9 labellings in the control figure 1.By 14 single coils of system of electromagnetic, outside except applying the field that can freely be scheduled on magnet or corresponding probe 10, also can on all three direction in spaces, apply unrestricted magnetic force.14 power supplys by 14 single coils of computer 9 control adopt PA1 to PA14 labellings.Also show the X-ray tube 11 of X-ray device in addition among this figure, its ray passes the free space between the single coil winding.On the display screen 12 of system of electromagnetic outside, observe the position of magnet 10 then or move.
For concrete structure, can have following measures according to system of electromagnetic shown in the drawings:
-single coil can be used liquid cools by aluminium strip or copper strips coiling when needing.
-single coil can be made by the metal hollow section bar, when needing cooling medium is imported by its inner space.
-particularly single coil can be by superconductive wire, and the superconductor that preferably has high Tc is made.
-self-evident, for example for making magnetic field uniformization, also can use other single coil.Corresponding single coil is shown in dotted line and adopts the 4c labelling in local Fig. 2 e.It spatially can be with reference to field component B
z
-in addition, can be equipped with magnetic material for this system of electromagnetic.For example, can be the parts that surround by this material to small part.Fig. 6 illustrates the corresponding construction according to Fig. 1 system of electromagnetic 2.Corresponding therewith, have magnetic earth conductor (Rueckschlusskoerper) 19i that constitutes by soft magnetic material as ferrum, it surrounds the gradient coil of system 2 from the outside.Utilize this soft magnetic member reached especially in the forced working space A magnetic field and/or to the purpose of external shield scattered field.
-when needing, can select different conductive wire cross-section for the single coil of the coil that is used to produce magnetic-field component coil device right or that be used to produce field gradient.Like this, the y-single coil on top for example for example according to the single coil 5b of local Fig. 2 c, can have than the bigger conductive wire cross-section of the bottom y-coil 5a corresponding with it or the higher number of turn.Self-evident, other coil to and/or coil device in this different structure also can be arranged.
Be that quadrature is arranged on the field component coil on the square apparent surface in pairs, except field component B by the starting point shown in the previous drawings according among the embodiment of system of electromagnetic 2 of the present invention
x, B
y, B
zAlso produce according to two in three diagonal field gradients of front gradient matrix outward.But also can utilize the field component coil to produce outer diagonal field gradient.Require at least one of three field component coils for this reason, particularly two, by by the coil of forming of single coil to constituting.If system of electromagnetic has a plurality of cuboid profiles around work space, so for example can adopt this embodiment.Fig. 7 and 8 with Fig. 1 and 2 illustrate accordingly have also be 14 single coils system of electromagnetic corresponding embodiment and adopt 20 labellings.At this, local Fig. 8 a to 8i is depicted as magnetic-field component and magnetic field gradient selected energising direction in single coil.In this embodiment, being on work space A end face F14a and the F14b is that the coil that is made of single coil 14a and 14b is to 14.According to Fig. 8 g and 8h, utilize these for example circular single coils that constitutes, produce magnetic-field component B
zAnd the affiliated gradient ingredient d B on the gradient matrix diagonal D
z/ dz.In contrast, be arranged in pairs relative side F13a, F13b and F15a, the field component coil on the F15b constitutes by the coil device of being made up of two single coils that are provided with one by one on the z direction separately 16 or 17 separately.At this, according to local Fig. 8 d, coil device 16 is by single coil 13a, and 13a` and 13b and 13b` form.According to local Fig. 8 d, 8e and 8f produce field component B according to the energising direction in these single coils
xOr diagonal gradient ingredient d B
x/ dx or outer diagonal gradient ingredient d B
z/ dx.According to corresponding mode, utilize side F15a, the single coil 15a of the last coil device 17 of F15b, 15a` and 15b, 15b` produces field component B according to local Fig. 8 a to 8c
yOr diagonal gradient ingredient d B
y/ dy or outer diagonal gradient ingredient d B
z/ dy.In order to produce the 3rd outer diagonal gradient ingredient d B according to Fig. 8 i
x/ dy, also another coil device 18 that need form by four single coil 18a to 18d.These single coils are in the profile inside that is made of the field component coil, on the tubular outer surface F18 of the encirclement work space A that (imagination) and z axis extend in parallel.These four single coil 18a to 18d distribute regularly on the tangential direction of outer surface F18 and are provided with, and wherein, its vertical face that is distributed on the z direction can superpose when needing.For diagram,,, also can have other shape as from appreciable Fig. 7 though supposed a foursquare shape of cross section for the outer surface of imagination according to local Fig. 8 i for this reason.In addition, local Fig. 8 g shows the probability of mentioning for local Fig. 2 e, is magnetic field uniformization other single coil is set.Like this, utilize the single coil of the dotted line formation that adopts the 14c labelling among the figure of this part, reach corresponding contrast field component B
zPurpose.
The starting point according to the embodiment of solenoid 20 of the present invention shown in Fig. 7 and 8 is to produce all three diagonal gradient compositions.Yet, because only need in these compositions two, so can cancel local Fig. 8 b, in the corresponding current-mode of 8e and 8h one.At this, that current-mode of cancellation is unessential.In addition, also can be according to local Fig. 8 b, 8e and 8h only produce a gradient.Second gradient can constitute by the linear combination of being made up of two other gradient then, and wherein, the fixed ratio of coil current is also irrelevant with current value.That is to say,, also can produce gradient all the time by form the corresponding linear combination by different single coils.Self-evident, this point also is applicable to the embodiment according to Fig. 1 and 2 system of electromagnetic 2.
Claims (14)
1. a system of electromagnetic (2,20) is used in three-dimensional work space (A) moving magnet (10) contactlessly, and this work space is by at a right angle x, y, unfolded plane (F4a, F4b in the z coordinate system; F3a, F3b; F5a, F5b; F14a, F14b; F13a, F13b; F15a, F15b; F6; F18) surround, this coil system has 14 separately controllable single coils (3a, 3b; 4a, 4b; 5a, 5b; 6a to 6d; 7a to 7d; 13a, 13a`; 13b, 13b`; 15a, 15a`; 15b, 15b`; 18a to 18d), they are configured to from respect to producing three magnetic-field component B the symmetric gradient matrix of its diagonal (D)
x, B
yAnd B
zAnd five magnetic field gradients,
Wherein, utilize single coil diagonal composition from three of gradient matrixs produce three diagonal compositions of gradient matrix two and each one with respect to the symmetric gradient composition of diagonal (D) centering outside.
2. according to the described system of claim 1, it is characterized in that 14 separately controllable single coils (3a, 3b; 4a, 4b; 5a, 5b; 6a to 6d; 7a to 7d; 13a, 13a`; 13b, 13b`; 15a, 15a`; 15b, 15b`; 18a to 18d) is arranged on paired facing surfaces (F4a, F4b; F3a, F3b; F5a, F5b; F14a, F14b; F13a, F13b; F15a, F15b) go up and at least one in z side upwardly extending tubular outer surface (F6; F18) on.
3. according to the described coil system of claim 2, it is characterized in that,
-at least six single coils (4a, 4b; 3a, 3b; 5a 5b) is in paired opposing end faces or side (F4a, F4b or F3a, the F3b of work space (A); F5a, F5b; F14a, F14b; F13a, F13b; F15a, F15b) on, be used to produce three magnetic-field component B
x, B
yAnd B
zAnd two diagonal compositions of gradient matrix and
-at least four single coil (6a to 6d; 7a to 7d; 18a to 18d) on tangential direction, is arranged at least one the tubular outer surface (F6 that surrounds work space (A) with distributing; F18) on, and be used to produce at least one outer diagonal composition of gradient matrix.
4. according to the described coil system of claim 3, it is characterized in that,
-six single coils (4a, 4b; 3a, 3b; 5a 5b) is in paired opposing end faces or side (F4a, F4b or F3a, the F3b of work space (A) to (4,3,5) as three coils; F5a, F5b) on and
-eight single coil (6a to 6d; 7a to 7d) constitute two coil devices (6,7), they are being on the z direction at least one tubular outer surface (F6) one by one, and it is four single coil (6a to 6d separately; 7a to 7d) on tangential direction, distributes the ground setting on the outer surface, and be used to produce three outer diagonal compositions of gradient matrix.
5. according to the described coil system of claim 3, it is characterized in that,
-single coil (14a, coil 14b) to (14) be in work space (A) end face (F14a, F14b) on, and be used to produce magnetic-field component B
zAnd the diagonal ingredient d B of gradient matrix
z/ dz,
-coil device (16 or 17) is in relative side (F13a, F13b in pairs separately; F15a, F15b) on, it is by two single coil (13a, 13a` that are provided with one by one on the z direction separately; 13b, 13b`; 15a, 15a`; 15b 15b`) forms, and is used to produce magnetic-field component B
xOr B
y,
-one coil device (18) is at least one tubular outer surface (F18), its single coils (18a to 18d) that are provided with by four ground that on tangential direction, distribute form and
-side (F13a, F13b; F15a, F15b) and the coil device on the outer surface (F18) (16,17,18) be used to produce another diagonal composition and three outer diagonal compositions of gradient matrix.
6. according to each described coil system in the claim 2 to 5, it is characterized in that (F6 F18) is in by six paired facing surfaces (F4a, F4b or F3a, F3b at least one outer surface; F5a, F5b; F14a, F14b; F13a, F13b; F15a, F15b) inside of the inner space of Gou Chenging.
7. according to each described coil system in the claim 2 to 6, it is characterized in that, be in outer surface (F6, F18) the field gradient coil (6a to 6d on; 7a to 7d; 18a to 18d) saddle type ground constitutes.
8. according to the described coil system of claim 7, it is characterized in that, the end face arcuate member of the field gradient coil of each coil device on tangential direction side by side or the stack.
9. according to each described coil system in the aforementioned claim, it is characterized in that several at least field component coil (3a, 3b; 4a, 4b; 5a 5b) constitutes as planar square coil or circular coil.
10. according to each described coil system in the claim 3 to 9, it is characterized in that, respectively the coil of forming by single coil to and/or coil device utilize identical shape to constitute.
11., it is characterized in that the coil of being made up of single coil is to the orthogonal setting in order to produce magnetic-field component according to each described coil system in the claim 3 to 10.
12., it is characterized in that, be equipped with the parts of forming by soft magnetic material (19i) in its outside, to strengthen magnetic field and/or armoured magnetic field according to each described coil system in the aforementioned claim.
13., it is characterized in that being used to survey the device of magnet (10) at work space (A) interior location according to each described coil system in the aforementioned claim.
14., it is characterized in that controlling its single coil by computer (9) according to each described coil system in the aforementioned claim.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10340925.4 | 2003-09-05 | ||
| DE10340925A DE10340925B3 (en) | 2003-09-05 | 2003-09-05 | Magnetic coil system for non-contact movement of a magnetic body in a working space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1589729A true CN1589729A (en) | 2005-03-09 |
Family
ID=34223363
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004100832752A Pending CN1589729A (en) | 2003-09-05 | 2004-09-05 | Magnet coil system for contactless movement of a magnetic body in a working space |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US7173507B2 (en) |
| JP (1) | JP2005081146A (en) |
| CN (1) | CN1589729A (en) |
| DE (1) | DE10340925B3 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20050052178A1 (en) | 2005-03-10 |
| US7173507B2 (en) | 2007-02-06 |
| JP2005081146A (en) | 2005-03-31 |
| DE10340925B3 (en) | 2005-06-30 |
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